lcm-websocket-server

lcm-websocket-server

WebSocket server for republishing LCM messages.

:hammer: Installation

You must have the LCM Python package installed before using lcm-websocket-server. See the LCM build instructions for more information.

From PyPI

pip install lcm-websocket-server

From source

poetry build
pip install dist/lcm_websocket_server-*-py3-none-any.whl

:rocket: Usage

[!TIP] The lcm-websocket-server commands have a log level of ERROR by default. To see more detailed logs, use the -v flag. Repeated use of the flag increases the verbosity from ERROR to WARNING, INFO, and DEBUG.

JSON Proxy

The lcm-websocket-json-proxy command can be used to run a server that republishes LCM messages as JSON over a WebSocket connection.

[!NOTE] The lcm-websocket-server command has been renamed to lcm-websocket-json-proxy. The old name is still available for backwards compatibility, but it is recommended to use the new name.

To run the server locally on port 8765 and republish messages on all channels:

lcm-websocket-json-proxy --host localhost --port 8765 --channel '.*' your_lcm_types_packages

The lcm_packages argument is the name of the package (or comma-separated list of packages) that contains the LCM Python message definitions. Submodules are scanned recursively and registered so they can be automatically identified, decoded, and republished.

Example: compas_lcmtypes

For example, the compas_lcmtypes package contains LCM types for the CoMPAS lab. These can be installed with:

pip install compas-lcmtypes==0.1.0

Then, the server can be run with:

lcm-websocket-server compas_lcmtypes

JPEG Proxy

The lcm-websocket-jpeg-proxy command can be used to run a server that republishes CoMPAS senlcm::image_t LCM messages as JPEG images over a WebSocket connection. The images are decoded from a variety of pixel formats and encoded as JPEG resolution as a configurable resolution and quality.

See the CoMPAS LCM types repository for more information.

This command requires the image extension to be installed. This can be done with:

pip install lcm-websocket-server[image]

To run the server locally on port 8766 and republish images for the CAMERA channel at 75% quality at 1.0 scale:

lcm-websocket-jpeg-proxy --host localhost --port 8766 --quality 75 --scale 1.0 --channel CAMERA

Dial Proxy

The lcm-websocket-dial-proxy command is a combined version of the JSON and JPEG proxies, tweaked for Dial. It can be used to run a server that republishes CoMPAS senlcm::image_t LCM messages as JPEG images and all other CoMPAS LCM messages as JSON over a WebSocket connection. All text frames sent over the WebSocket connection are encoded as JSON. Binary frames are JPEG images with a prepended header and channel name that conforms to the LCM log file format with the following considerations:

• The event number is always 0. This is because the server is not reading from a log file, but rather republishing messages as they are received.
• The timestamp is the timestamp from the image_t event's contained header_t timestamp. The timestamp is conventionally in units of microseconds, but this is not guaranteed.
• The data length represents the original image data length, not the length of the JPEG image data.

Therefore, the binary frame is laid out as follows:

[28 byte LCM header] [channel name] [JPEG]

This command requires the image extension to be installed. This can be done with:

pip install lcm-websocket-server[image]

To run the server locally on port 8765 and republish messages on all channels (JPEG quality and scale are configured as before):

lcm-websocket-dial-proxy --host localhost --port 8765 --channel '.*' --quality 75 --scale 1.0

:whale: Docker

Build

A Docker image to run the lcm-websocket-server can be built with:

./scripts/docker_build.sh

This will create the mbari/lcm-websocket-server image.

Run

The container can be run with:

docker run \
    --name lcm-websocket-server \
    --rm \
    -e HOST=0.0.0.0 \
    -e PORT=8765 \
    -e CHANNEL=".*" \
    -v /path/to/your_lcm_types_package:/app/your_lcm_types_package \
    -e LCM_PACKAGES=your_lcm_types_package \
    --network=host \
    -d \
    mbari/lcm-websocket-server

Note that the HOST, PORT, and CHANNEL environment variables specified above are the defaults for the mbari/lcm-websocket-server image. These can be omitted if the defaults are acceptable.

The LCM_PACKAGES environment variable should be set to the name of the package (or comma-separated list of packages) that contains the LCM Python message definitions. The /app directory is included in the PYTHONPATH so that any packages mounted there (as shown with -v above) can be imported.

It's recommended to run with --network=host to avoid issues with LCM over UDP. This will allow the container to use the host's network stack.